Synthesis.cpp

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/*
 * Synthesis.cpp
 *
 * Construct numerical synthesis
 *
 *  Created on: Jan 4, 2015
 *      Author: yuhanlyu
 */

#include <iostream>
#include <random>
#include <cassert>
#include "Utility.h"
#include "Configuration.h"
#include "Transformation.h"
#include "ReedsSheppCar.h"
#include "DubinsCar.h"
#include "DiffDrive.h"

namespace RigidBody {

void ReedsShepp(double x_lb, double x_ub, double y_lb, double y_ub, double theta_lb, double theta_ub, double step, double theta_step)
{
	if (x_lb == x_ub) {
		for (double y = y_lb; y <= y_ub; y += step) {
			for (double theta = theta_lb; theta <= theta_ub; theta += theta_step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x_lb, y, theta_lb);
				int type = ReedsSheppCar::shortestPathType(initial, goal);
				double distance = ReedsSheppCar::distance(initial, goal);
				std::cout << y << ' ' << theta << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else if (y_lb == y_ub) {
		for (double x = x_lb; x <= x_ub; x += step) {
			for (double theta = theta_lb; theta <= theta_ub; theta += theta_step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x, y_lb, theta_lb);
				int type = ReedsSheppCar::shortestPathType(initial, goal);
				double distance = ReedsSheppCar::distance(initial, goal);
				std::cout << x << ' ' << theta << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else if (theta_lb == theta_ub) {
		for (double x = x_lb; x <= x_ub; x += step) {
			for (double y = y_lb; y <= y_ub; y += step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x, y, theta_lb);
				int type = ReedsSheppCar::shortestPathType(initial, goal);
				double distance = ReedsSheppCar::distance(initial, goal);
				std::cout << x << ' ' << y << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else
		assert(false);
}

void Dubins(double x_lb, double x_ub, double y_lb, double y_ub, double theta_lb, double theta_ub, double step, double theta_step)
{
	if (x_lb == x_ub) {
		for (double y = y_lb; y <= y_ub; y += step) {
			for (double theta = theta_lb; theta <= theta_ub; theta += theta_step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x_lb, y, theta_lb);
				int type = DubinsCar::shortestPathType(initial, goal);
				double distance = DubinsCar::distance(initial, goal);
				std::cout << y << ' ' << theta << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else if (y_lb == y_ub) {
		for (double x = x_lb; x <= x_ub; x += step) {
			for (double theta = theta_lb; theta <= theta_ub; theta += theta_step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x, y_lb, theta_lb);
				int type = DubinsCar::shortestPathType(initial, goal);
				double distance = DubinsCar::distance(initial, goal);
				std::cout << x << ' ' << theta << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else if (theta_lb == theta_ub) {
		for (double x = x_lb; x <= x_ub; x += step) {
			for (double y = y_lb; y <= y_ub; y += step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x, y, theta_lb);
				int type = DubinsCar::shortestPathType(initial, goal);
				double distance = DubinsCar::distance(initial, goal);
				std::cout << x << ' ' << y << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else
		assert(false);
}

void DiffDriveCar(double x_lb, double x_ub, double y_lb, double y_ub, double theta_lb, double theta_ub, double step, double theta_step)
{
	if (x_lb == x_ub) {
		for (double y = y_lb; y <= y_ub; y += step) {
			for (double theta = theta_lb; theta <= theta_ub; theta += theta_step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x_lb, y, theta_lb);
				int type = DiffDrive::shortestPathType(initial, goal);
				double distance = DiffDrive::distance(initial, goal);
				std::cout << y << ' ' << theta << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else if (y_lb == y_ub) {
		for (double x = x_lb; x <= x_ub; x += step) {
			for (double theta = theta_lb; theta <= theta_ub; theta += theta_step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x, y_lb, theta_lb);
				int type = DiffDrive::shortestPathType(initial, goal);
				double distance = DiffDrive::distance(initial, goal);
				std::cout << x << ' ' << theta << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else if (theta_lb == theta_ub) {
		for (double x = x_lb; x <= x_ub; x += step) {
			for (double y = y_lb; y <= y_ub; y += step) {
				Configuration initial(0, 0, 0);
				Configuration goal(x, y, theta_lb);
				int type = DiffDrive::shortestPathType(initial, goal);
				double distance = DiffDrive::distance(initial, goal);
				std::cout << x << ' ' << y << ' ' << type << ' ' << distance << '\n';
			}
		}
	} else
		assert(false);
}
}